Rotary exercise equipment apparatus and method of use thereof

ABSTRACT

The invention comprises a method and/or an apparatus using computer configured exercise equipment and an electric motor. A computer-controlled robotic resistance system is used for training, diagnosis and/or therapy. The resistance system comprises: a subject interface, software control, a controller, an electric servo assist/resist motor, an actuator, and/or a subject sensor. The system overcomes the limitations of the existing robotic rehabilitation, weight training, and cardiovascular training systems by providing a training and/or rehabilitation system that adapts a resistance or force applied to a user interactive element in response to the user&#39;s interaction with the training system, a physiological strength curve, and/or sensor feedback. For example, the system optionally provides for an automatic reconfiguration and/or adaptive load adjustment based upon real time measurement of a user&#39;s interaction with the system or sensor based observation by the exercise system as it is operated by the subject.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application:

-   -   is a continuation in part of U.S. patent application Ser. No.        12/545,324, filed Aug. 21, 2009, which under 35 U.S.C. 120        claims benefit of U.S. provisional patent application No.        61/091,240 filed Aug. 22, 2008; and    -   claims benefit of U.S. provisional patent application No.        61/387,772 filed Sep. 29, 2010,    -   all of which are incorporated herein in their entirety by this        reference thereto.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

The U.S. Government may have certain rights to this invention pursuantto NASA SBIR Contract number: NNX10CB13C dated Feb. 5, 2010.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates generally to computer and motor assistedexercise equipment methods and apparatus.

2. Discussion of the Related Art

Patents related to computer controlled variable resistance exerciseequipment are summarized herein.

Sensors and Resistive Force

J. Casler, “Electronically Controlled Force Application Mechanism forExercise Machines”, U.S. Pat. No. 5,015,926 (May 14, 1991) describes anexercise machine equipped with a constant speed electric drivemechanically coupled to a dynamic clutch, which is coupled to anelectromagnetic coil or fluid clutch to control rotary force input. Anelectronic sensor connected to a computer senses the speed, motion, andtorque force of the system's output shaft and a control unit directed bythe computer controls the clutch.

G. Stewart, et. al., “Computer Controlled Exercise Machine”, U.S. Pat.No. 4,869,497 (Sep. 26, 1989) describe a computer controlled exercisemachine where the user selects an exercise mode and its profile byprogramming a computer. Signals are produced by the program to control aresistive force producing device. Sensors produce data signalscorresponding to the actuating member of the system, velocity ofmovement, and angular position. The sampled data are used to control theamount of resistive force.

Pressure/Movement Sensors

M. Martikka, et. al., “Method and Device for Measuring Exercise LevelDuring Exercise and for Measuring Fatigue”, U.S. Pat. No. 7,764,990 B2(Jul. 27, 2010) describe sensors for measuring electrical signalsproduced by muscles during exercise and use of the electrical signals togenerate a fatigue estimate.

E. Farinelli, et. al., “Exercise Intra-Repetition Assessment System”,U.S. Pat. No. 7,470,216 B2 (Dec. 30, 2008) describe an intra-repetitionexercise system comparing actual performance to a pre-established goalwith each repetition of the exercise, where displayed indicia includestravel distance and speed.

R. Havriluk, et. al., “Method and Apparatus for Measuring PressureExerted During Aquatic and Land-Based Therapy, Exercise and AthleticPerformance”, U.S. Pat. No. 5,258,927 (Nov. 2, 1993) describe a devicefor monitoring exercise pressure on systems using an enclosedcompressible fluid chamber. Measurements are taken at pressure ports andare converted to a digital signal for computer evaluation of type anddegree of exercise performed.

Hand Controls

S. Owens, “Exercise Apparatus Providing Resistance Variable DuringOperation”, U.S. Pat. No. 4,934,692 (Jun. 19, 1990) describes anexercise device having a pedal and hand crank connected to a flywheelprovided with a braking mechanism. To vary the amount of braking,switches located on the hand crank are used making removal of the handfrom the crank unnecessary to operation of the switches.

Resistance/Varying Resistance Exercise

D. Munson, et. al., “Exercise Apparatus Based on a Variable ModeHydraulic Cylinder and Method for Same”, U.S. Pat. No. 7,762,934 B1(Jul. 27, 2010) describe an exercise machine having a hydraulic cylindersealed with spool valves adjustable to permit entrance and exit of waterwith forces corresponding to forces exerted on the cylinder.

C. Hulls, “Multiple Resistance Curves Used to Vary Resistance inExercise Apparatus”, U.S. Pat. No. 7,682,295 B2 (Mar. 23, 2010)describes an exercise machine having varying resistance based onplacement of a cable pivot point within a channel, where placement ofthe pivot point within the channel alters the resistance pattern alongthe range of motion of an exercise.

D. Ashby, et. al., “System and Method for Selective Adjustment ofExercise Apparatus”, U.S. Pat. No. 7,645,212 B2 (Jan. 12, 2010) describean electronic interface allowing adjustment of speed and grade level viaa computer based interface mounted on an exercise machine, such as on atreadmill.

M. Anjanappa, et. al., “Method of Using and Apparatus for Use withExercise Machines to Achieve Programmable Variable Resistance”, U.S.Pat. No. 5,583,403 (Dec. 10, 1996) describes an exercise machine havinga constant torque, variable speed, reversible motor and associatedclutches. The motor and clutch are chosen in a predetermined combinationthrough use of a computer controller.

J. Daniels, “Variable Resistance Exercise Device”, U.S. Pat. No.5,409,435 (Apr. 25, 1995) describes a programmable variable resistanceexercise device providing a resisting force to a user supplied force.The user supplied force is resisted by varying the viscosity of avariable viscosity fluid that surround plates rotated by the userapplied force. A gear and clutch system allow resistance to a pullingforce.

M. Brown, et. al., “User Force Application Device for an Exercise,Physical Therapy, or Rehabilitation Apparatus”, U.S. Pat. No. 5,362,298(Nov. 8, 1994) describe an exercise apparatus having a cable connectedto a resistive weight and a detachable handle connected to the cable viaa tension transmitting device.

Physiological Response

M. Lee, et. al., “Exercise Treadmill with Variable Response to FootImpact Induced Speed Variation”, U.S. Pat. No. 5,476,430 (Dec. 19, 1995)describe an exercise treadmill having a plurality of rates ofrestoration of the tread belt speed upon occurrence of change in theload on the moving tread belt resulting from the user's foot plant,where the user can select a desired rate of response referred to asstiffness or softness.

Power Generation/Energy Consumption

J. Seliber, “Resistance and Power Monitoring Device and System forExercise Equipment”, U.S. Pat. No. 7,351,187 B2 (Apr. 1, 2008) describesan exercise bike including pedals, a belt, and a hydrodynamic brake.User applied force to the pedals is transferred to a flywheel andrelative rotation speeds of impellers of the fluid brake are used toestimate generated wattage.

J. Seo, et. al., “Apparatus and Method for Measuring Quantity ofPhysical Exercise Using Acceleration Sensor”, U.S. Pat. No. 7,334,472 B2(Feb. 26, 2008) describe a method for measuring calorie consumption whenusing an exercise device based upon generating acceleration informationfrom an acceleration sensor.

S. Shu, et. al., “Power Controlled Exercising Machine and Method forControlling the Same”, U.S. Pat. No. 6,511,402 B2 (Jan. 28, 2003)describe a self-contained exercise machine with a generator and analternator used to recharge a battery with power supplied from a stepperinterface used by a subject.

STATEMENT OF THE PROBLEM

While a wide variety of computer-controlled exercise machines fortraining and rehabilitation exist, some of which can be automaticallyadjusted to vary resistance or incline, such systems provide forpreprogrammed changes in load or resistance.

What is needed is a system that overcomes the limitations of theexisting robotic rehabilitation systems by providing a training and/orrehabilitation system that adapts a resistance or force applied to auser interactive element in response to the user's interaction with theuser interactive element, the system, and/or observations of the user bythe system.

SUMMARY OF THE INVENTION

The invention comprises a computer assisted exercise equipment methodand apparatus.

DESCRIPTION OF THE FIGURES

FIG. 1 provides a block diagram of an electric motor resistance basedexercise system;

FIG. 2 illustrates hardware elements of an exemplary computer aidedmotorized resistance exercise system;

FIG. 3 provides exemplary resistance profiles for a linear movement;

FIG. 4 illustrates a rotary exercise system configured with electricmotor resistance;

FIG. 5 provides exemplary resistance profiles for a rotary movement; and

FIG. 6 illustrates a combined linear and rotary exercise system.

DETAILED DESCRIPTION OF THE INVENTION

The invention comprises a method and/or an apparatus using a computerand rotary exercise equipment configured with an electric motor.

In one embodiment, exercise equipment configured with a rotatable crankand means for varying resistance to rotation of the rotatable crankusing an electric motor is described.

In another embodiment, exercise equipment is configured with an electricmotor resistance system. Resistance to movement supplied by the electricmotor optionally varies dependent upon input from one or more subjectsensors. Variation in resistive force optionally occurs:

-   -   within a single direction of a weight training repetition;    -   between directions of a weight training repetition; and/or    -   between repetitions within a single set of repetitions.

Herein, a repetition is one complete movement of an exercise andrepetitions refers to the number of times each exercise is completed ina row or in a set.

In yet another embodiment, a computer-controlled robotic resistancesystem or mechanical resistance training system is used for:

-   -   strength training;    -   aerobic conditioning;    -   low gravity training;    -   physical therapy;    -   rehabilitation; and/or    -   medical diagnosis.

The resistance system comprises: a subject interface, software control,a controller, an electric motor, an electric servo assist/resist motor,a variable speed motor, an actuator, and/or a subject sensor. Theresistance system is adaptable to multiple configurations to providedifferent types of training, as described infra.

The resistance system significantly advances neuromuscular function asit is adaptable to a level of resistance or applied force. For example,the system optionally uses:

-   -   biomechanical feedback    -   motorized strength training;    -   motorized physical conditioning; and/or    -   a computer programmed workout.

For example, a system is provided that overcomes the limitations of theexisting robotic rehabilitation, weight training, and cardiovasculartraining systems by providing a training and/or rehabilitation systemthat adapts a resistance or force applied to a user interactive elementin response to:

-   -   the user's interaction with the training system;    -   a physiological strength curve;    -   sensor feedback; and/or    -   observations of the system.

For instance, the system optionally provides for an automaticreconfiguration and/or adaptive load adjustment based upon real timemeasurement of a user's interaction with the system or sensor basedobservation by the exercise system as it is operated by the subject 110.

DEFINITIONS

Herein, the human or operator using the resistance system is referred toas a subject. The subject is any of: a trainer, a trainee, a lifter,and/or a patient.

Herein, a computer refers to a system that transforms information in anyway. The computer or electronic device, such as an embedded computer, acontroller, and/or a programmable machine, is used in control of theexercise equipment.

Herein, an x-axis and a y-axis form a plane parallel to a supportsurface, such as a floor, and a z-axis runs normal to the x/y-plane,such as along an axis aligned with gravity. In embodiments used in lowgravity space, the axes are relative to a support surface and/or to thesubject 110.

Motor Assisted Resistance System

Referring now to FIG. 1, a block diagram of a motor equipped exercisesystem 100 is provided. As the exercise system 100 optionally providesresistance and/or assistance to a motion of user interface, such as aweightlifting bar or crank system, the motor equipped exercise system100 is also referred to as a motor equipped resistance system, aresistance system, a motor equipped assistance system, and/or anassistance system. For clarity of presentation, examples provided hereinrefer to a resistance provided by a motor of the exercise system 100.However, the motor of the exercise system 100 is alternativelyconfigured to provide assistance. Hence, examples referring to motorsupplied resistance are non-limiting and in many cases the system isalternatively reconfigured to use motor supplied assistance in the rangeof motion of a particular exercise.

Still referring to FIG. 1, the exercise system 100 includes one or moreof: a computer configured with a program 120, a controller 130, anexercise element 140, and/or a sensor 150. The exercise system 100 isconfigured for use by a subject 110.

Still referring to FIG. 1, the subject 110:

-   -   enters a program 120 to the resistance system 100;    -   alters the resistance of the exercise system within a        repetition;    -   alters the resistance of the exercise system between        repetitions;    -   is sensed by sensors 150 in the resistance system; and/or    -   is recognized by the resistance system, such as through wireless        means described infra.

The program 120 is optionally predetermined, has preset options, isconfigurable to a specific subject, changes resistance dynamically basedon sensor input, and/or changes resistance based on subject input,described infra. The program 120 provides input to a controller 130and/or a set of controllers, which controls one or more actuators and/orone or more motors of an exercise element 140 of the exercise system100. Optional sensors provide feedback information about the subject 110and/or the state of a current exercise movement, such as a position of amoveable element of the resistance system, a force applied to a portionof the exercise system 100, the subject's heart rate, and/or thesubject's blood pressure. Signal from the sensors 150 are optionally fedin a feedback system or loop to the program 120 and/or directly to thecontroller 130.

Optionally, active computer control is coupled with motorized resistancein the exercise system 100. The computer controlled motor allows forincorporation of progressive and reconfigurable procedures in strengthtraining, physical conditioning, and/or cardiovascular exercise. Forexample, computer control of the motor additionally optionally providesresistance curves overcoming the traditional limits of gravity basedfreestyle weightlifting, described infra.

Linear Movement

Referring now to FIG. 2, a linear movement system 200 is illustrated,which is a species of the exercise system 100. The linear movementsystem 200 is illustrative in nature and is used for facilitatingdisclosure of the system. Further, the species of the linear movementsystem 200 is to a specific form of the exercise system 100. However,the illustrated linear movement system 200 is only one of many possibleforms of the exercise system 100 and is not limiting in scope. Hereinthe linear movement system refers to a linear, about linear, ornon-rotational movement of the user interface exercise equipment, suchas a weightlifting bar, or to movement of a resistance cable.

Still referring still to FIG. 2, an exemplary computer and motorizedaided linear movement system 200 is provided. Generally, FIG. 2illustrates examples of the structural elements 140 of the exercisesystem 100. In the illustrated system, the linear movement system 200includes:

-   -   a base 210, such as an aluminum extrusion or suitable material    -   an upright support member 212 affixed to the base;    -   a removable weightlifting bar 220 placeable into a guide element        of the upright support member 212, or other geometry suitable        for interfacing with the subject, such as a D-handle;    -   a first end of a resistance cable 230 affixed to the        weightlifting bar 220;    -   a cable spool 242 affixed to a second end of the resistance        cable 230;    -   a resistance cable, such as flexible metallic cable, a fibrous        cord, an about 0.053″ sheathed Kevlar cord, or an about 3/32″        T-100 cord; and/or    -   an electric motor configured to provide resistance to movement        of the weightlifting bar 220 through the resistance cable 230.

As configured, the subject 110 straddles the electric motor 240 andstands on the floor, base 210, and/or a foot support or cross-member 214of the base 210. The subject 110 pulls on the removable weightliftingbar 220 and/or on hand grips 222 affixed or attached to theweightlifting bar 220. Movement of the weightlifting bar 220 iscontinuous in motion, but is illustrated at a first point in time, t₁,and at a second point in time, t₂, for clarity. The subject pulls theweightlifting bar 220, such as along the z-axis. Movement of theweightlifting bar 220 is resisted by the electric motor 240. Forexample, the electric motor 240 provides a resistive force to rotationof the cable spool 242, which transfers the resistive force to theresistance cable 230 and to the weightlifting bar 220 pulled on by thesubject 110. In one example, the electric motor 240 includes a 10:1 orlow lash gearbox and/or a MicroFlex drive to control motor torque. Thetorque produced by the motor is optionally made proportional to ananalog voltage signal applied to one of the drive's analog inputs or iscontrolled by sending commands to set the torque value using a digitalcommunications protocol.

Orientations

The linear movement system 200 is illustrated with the resistive cable230 running in the z-axis. However, the resistive cable 230 optionallyruns along the x-axis or any combination of the x-, y-, and z-axes.Similarly, the linear movement system 200 is illustrated for the usersubject 110 standing on the floor. However, the exercise system 100 isoptionally configured for use by the subject 110 in a sitting positionor any user orientation. Further, the linear movement system 200 isillustrated with the subject 110 pulling up against a resistance.However, the subject is optionally pushing against a resistance, such asthrough use of a force direction changing pulley redirecting theresistance cable 230. Still further, the linear movement system 200 isillustrated for use by the subject's hands. However, the system isoptionally configured for an interface to any part of the subject, suchas a foot or a torso.

Resistance/Assistance Profiles

Traditional weight training pulls a force against gravity, which isconstant, and requires the inertia of the mass to be overcome.Particularly, a force, F, is related to the mass, m, moved and theacceleration, g, of gravity, and the acceleration of the mass, a,through equation 1,

F=mg+ma  (eq. 1)

where the acceleration of gravity, g, is

$9.81\mspace{11mu} {\frac{m}{\sec^{2}}.}$

Hence, the resistance to movement of the weight is non-linear as afunction of time or as a function of movement of the user interactiveelement.

Referring now to FIG. 3, resistance profiles 300 are illustrated, whereboth the resistance and distance are in arbitrary units. For traditionalfree weight strength training, the external resistance profile is flat310 as a function of distance. For example, on a bench press a loadedweight of 315 pounds is the resistance at the bottom of the movement andat the top of the movement where acceleration is zero. At positions inbetween the external force required to accelerate the mass is dependenton the acceleration and deceleration of the bar. In stark contrast, theexercise system 100 described herein allows for changes in theresistance as a function of position within a single repetition ofmovement. Returning to the bench press example, it is well known thatthe biomechanics of the bench press result in an ascending strengthcurve such that one can exert greater force at the end of the range ofmotion than at the beginning. Hence, when the lifter successfully lifts,pushes, or benches through the “sticking point” of the bench pressmovement, the person has greater strength at the same time the leastamount of force needs to exerted as the mass is deceleration resultingin the musculature of the chest being sub-optimally loaded. Accordingly,a variable resistance profile starting with a lower resistance and thenincreasing to a peak resistance is more optimal for a bench press.

Still referring to FIG. 3, still an additional profile 350 is a profilewhere the force at the beginning of the lift (in a given direction) isabout equal to the force at the end of the lift, such as a weight ofmass times gravity. At points or time periods between the beginning ofthe lift and the end of the lift (in a given direction) the forceapplied by the electric motor optionally depends on whether the bar isaccelerating or decelerating. For example, additional force is appliedby the motor during acceleration and no additional force is applied bythe motor during deceleration versus a starting weight. For example, theapplied force profile is higher than a starting weight or initial forceas the load is accelerated and less than or equal to the initial load asit movement of the repetition decelerates.

Still referring to FIG. 3, more generally the resistance profile 300 isoptionally set:

-   -   according to predetermined average physiological human        parameters;    -   to facilitate therapy of a weak point in a range of motion;    -   to accommodate restricted range of motion, such as with a        handicap;    -   to fit a particular individual's physiology;    -   to fit a particular individual's preference;    -   in a pre-programmed fashion;    -   in a modified and/or configurable manner; and/or    -   dynamically based on        -   sensed values from the sensor 150; and/or        -   through real-time operator 110 input.

Several optional resistance profiles are illustrated, including: astep-down function resistance profile 320, an increasing resistanceprofile 330, and a peak resistance profile 340. Physics based profilesinclude:

-   -   accurate solution of F=mg+ma;    -   accurate solution of

${F = {{mg} + \begin{Bmatrix}{{ma},\left( {a > 0} \right)} \\{0,\left( {a \leq 0} \right)}\end{Bmatrix}}},$

-   -   which prevents the resistance from dropping below the baseline,        static resistance; and/or    -   accurate solution of F=mg+maximum, which maintains the maximum        resistance developed when accelerating the load through the        remainder of the lift.

Additional profiles include a step-up profile, a decreasing resistanceprofile, a minimum resistance profile, a flat profile, a complexprofile, and/or any permutation and/or combination of all or parts ofthe listed profiles. Examples of complex profiles include a firstprofile of sequentially increasing, decreasing, and increasingresistance or a second profile of decreasing, increasing, and decreasingresistance.

In one example, the resistance force to movement of the subjectinterface varies by at least 1, 5, 10, 15, 20, 25, 50, or 100 percentwithin a repetition or between repetitions in a single set.

Reverse Movement

For the linear movement system 200, resistance profiles were providedfor a given direction of movement, such as an upward push on benchpress. Through appropriate mounts, pulleys, and the like, the resistanceprofile of the return movement, such as the downward movement ofnegative of the bench press, is also set to any profile. The increasedload is optionally set as a percentage of the initial, static load. Forexample, the downward force profile of the bench press are optionallyset to match the upward resistance profile, to increase weight, such aswith a an increased weight “negative” bench press, or to have a profileof any permutation and/or combination of all or parts of the listedprofiles.

Time/Range of Motion

One or more sensors are optionally used to control rate of movement ofthe resistive cable. For example, the electric motor 240 is optionallyconfigured with an encoder that allows for determination of how far thecable has moved. The encoder optionally provides input to the controller130 which controls further movement of the actuator and/or motor turn,thereby controlling in a time controlled manner movement or position ofthe resistive cable.

In one example, the exercise system 100 senses acceleration and/ordeceleration of movement of the movable exercise equipment, such as theweightlifting bar 220. Acceleration and/or deceleration is measuredusing any of:

-   -   an encoder associated with rotation of the electric motor;    -   an accelerometer sensor configured to provide an acceleration        signal; and/or    -   a-priori knowledge of a range or motion of a given exercise type        coupled with knowledge of:        -   a start position of a repetition;        -   a physical metric of the operator, such as arm length, leg            length, chest size, and/or height.

Since putting an object into motion takes an effort beyond the forceneeded to continue the motion, such as through a raising period of abench press, the forces applied by the motor are optionally used toincrease or decrease the applied force based on position of movement ofthe repetition. The encoder, a-priori knowledge, physical metrics,and/or direct measurement with a load cell, force transducer, or straingage are optionally used in formulation of the appropriate resistanceforce applied by the electric motor 240 as a function of time.

Exercise Types

Thus far, concentric and eccentric exercises configurable with theexercise system 100 have been described. Optionally, isometric exercisesare configurable with the exercise system 100. An isometric exercise isa type of strength training where a joint angle and a muscle length donot vary during contraction. Hence, isometric exercises are performed instatic positions, rather than being dynamic through a range of motion.Resistance by the electric motor 240 transferred through the resistivecable 230 to the weightlifting bar 220 allows for isometric exercise,such as with a lock on the motor or cable, and/or through use of asensor, such as the encoder.

Rotational Movement

Thus far, the linear movement system 200 species of the exercise system100 has been described. Generally, elements of the linear movementsystem 200 apply to a rotational movement system 400 species of theexercise system 100 genus. In a rotary movement system, the electricmotor 240 provides resistance to rotational force.

Referring now to FIG. 4, a rotational movement system 400 isillustrated, which is a species of the exercise system 100. Therotational movement system 400 is illustrative in nature and is used forfacilitating disclosure of the system. Further, the species of therotational movement system 400 is to a specific form of the exercisesystem 100. However, the illustrated rotational movement system 400 isonly one of many possible forms of the exercise system 100 and is notlimiting in scope.

Still referring still to FIG. 4, an exemplary computer and motorizedaided rotational movement system 400 is provided. Generally, FIG. 4illustrates examples of the structural elements 140 of the exercisesystem 100. In the illustrated system, the rotational movement system400 includes:

-   -   a support base 410;    -   an upright support member 422 affixed to the base;    -   an operator support 420, such as a seat, affixed to the upright        support member 422;    -   a hand support 430 affixed to the upright support member 422;    -   a crank assembly 440 supported directly and/or indirectly by the        support base 410 or a support member;    -   pedals 450 attached to the crank assembly 440;    -   an electric motor 240;    -   a rotational cable 442 affixed to the crank assembly 440 and to        the motor 240;    -   control electronics 246 electrically connected to at least one        of the electric motor 240 and controller 130;    -   a display screen 492 attached to a display support 492, which is        directly and or indirectly attached to the support base 410;        and/or    -   an aesthetic housing 480, which is optionally attached, hinged,        or detachable from the support base 410.

In stark contrast with a power generation system where a user pedals acrank and generates power, the system herein described optionally usesan electric motor to provide a resistance against which the personexercising needs to exert force.

Orientations

As with the with linear movement system 200, the orientations of therotational movement system 400 are optionally configurable in anyorientation and/or with alternative body parts, such as with the handsand arms instead of with feet and legs.

Resistance/Assistance Profiles

As described, supra, with respect to the linear movement system 200,traditional rotary systems have a preset resistance, which is eitherflat or based upon a fixed cam or set of fixed cams. Referring now toFIG. 5, resistance profiles 500 are illustrated, where the resistance isin arbitrary units as a function of rotation angle theta. Fortraditional rotation systems, the resistance profile is flat 510 as afunction of rotation. In stark contrast, the exercise system 100described herein allows for changes in the resistance as a function ofrotation within a single revolution of movement and/or with successiverevolutions of the rotating element. Typically, resistance variation isa result of changes in the electric motor supplied resistance.

An example of rotation of a bicycle crank illustrates differencesbetween traditional systems and resistance profiles available using therotational movement system 500. A flat resistance profile versusrotation 510 is typical. However, the physiology of the body allows formaximum exerted forces with the right leg at about 45 degrees ofrotation of the crank (zero degrees being the 12 o'clock position with avertical rotor) and maximum exerted forces by the left leg at about 225degrees of rotation of the crank. The computer controlled electric motor240 allows variation of the resistance profile as a function ofrotational angle 520. Unlike a cam system or a bicycle equipped with anelliptical crank, the resistance profile is alterable between successiverevolutions of the crank via software and/or without a mechanicalchange.

Still referring to FIG. 5, more generally the resistance profile 500 ofthe rotational exercise system 400 is optionally set:

-   -   according to predetermined average physiological human        parameters;    -   to facilitate therapy of a weak point in a range of motion;    -   to accommodate restricted range of motion, such as with a        handicap;    -   to fit a particular individual's physiology;    -   to fit a particular individual's preference;    -   in a pre-programmed fashion;    -   in a modified and/or configurable manner; and/or    -   dynamically based on        -   sensed values from the sensor 150; and/or        -   through real-time operator 110 input.

Several optional rotational resistance profiles are possible, including:a step function resistance profile, a changing resistance profile withina rotation and/or between rotations, a range or programs of resistanceprofiles. Additional profiles include any permutation and/or combinationof all or parts of the profiles listed herein for the linear movementsystem 200 and/or the rotational movement system 400.

Combinatorial Linear and Rotation Systems

Referring now to FIG. 6, a combinatorial movement system 200 isillustrated. In the illustrated example, a single electric motor 240 isused for control of two or more pieces of exercise equipment, such as:

-   -   an isometric station;    -   a linear movement system 200; and    -   a rotational movement system 400.

Generally, the single electric motor 240 optionally provides resistanceto 1, 2, 3, 4, 5, or more workout stations of any type.

Still referring to FIG. 6, an exercise system is figurativelyillustrated showing interfaces for each of: (1) a linear movement system200 and (2) a rotational movement system 200 with a motor 240 and/ormotor controlled wheel 462. The combinatorial movement system 600 isillustrative in nature and is used for facilitating disclosure of thesystem. However, the illustrated combinatorial movement system 600 isonly one of many possible forms of the exercise system 100 and is notlimiting in scope.

Sensors

Optionally, various sensors 150 are integrated into and/or are used inconjunction with the exercise system 100.

Operator Input

A first type of sensor includes input sources to the computer from theoperator 110. For example, the hand support 430 of the rotationalmovement system 400 is optionally configured with one or more handcontrol 432 buttons, switches, or control elements allowing the operator110 to adjust resistance and/or speed of the electric motor 240 within arepetition and/or between repetitions. For example, an increase weightbutton is optionally repeatedly depressed during raising of a weight,which incrementally increases the load applied by the electric motor240. A similar button is optionally used to decrease the weight.Similarly foot control buttons 452 are optionally used to achieve thesame tasks, such as when the hands are tightly gripped on aweightlifting bar.

Instrumentation Sensor

A second type of sensor 150 delivers information to the computer of theexercise system 100. In a first example, the pedals 450 of the bicycleassembly are optionally equipped with sensors 150 as a means formeasuring the force applied by a operator 110 to the pedals. As a secondexample, the linear motion system 200 and/or rotational motion system400 optionally contains sensors 150 for measuring load, position,velocity, and/or acceleration of any movable element, such as the pedals450 or the weightlifting bar 200.

For example, muscle loading is controlled using the resistance forceexerted on the bar by the electric motor. Position, velocity, andacceleration data are provided by an encoder on the motor and are usedas feedback in the control system. For additional muscular overload,often more weight is lowered than can be raised. The lowering oreccentric phase of the exercise can be controlled in real-time foreccentric overload. Muscle loading control and data acquisition isoptionally performed, for example, in a dataflow programming languagewhere execution is determined by the structure of a graphical blockdiagram which the programmer connects different function-nodes bydrawing wires, such as LabView® or other suitable software.

Radio-Frequency Identification

A third type of sensor 150 delivers information to the computer of theexercise system 100 from the operator. For example, the operator wears aradio-frequency identification (RFID) tag, such as in a belt, shoe,wallet, cell phone, article of clothing, or an embedded device. Theradio frequency identification identifies the operator to the exercisesystem 100 along with information, such as any of:

-   -   an operator name;    -   an operator gender;    -   an operator age;    -   an operator height;    -   an operator weight;    -   an operator physical characteristic, such as arm length, leg        length, chest size for an exercise like a bench press;    -   an operator workout preference;    -   an operator workout history; and    -   an operator goal.

The radio-frequency identification tag is of any type, such as active orbattery powered, passive, and battery assisted passive. Generally,wireless signal is received by the exercise equipment 100 from abroadcast source, such as from a global positioning system or RFID tag.

Computer

The motor drive controller 130 is optionally connected to amicroprocessor or computer and power electronics that are used tocontrol the electric motor 240. The power electronics are connected to apower supply such as a battery or power outlet. The computer, theelectric drive unit, and the sensors 150 optionally communicate with oneanother to form feedback control loops allowing the profile of the forceand/or resistance applied to the operator 110. The computer optionallyprovides: a user interface, data storage and processing, and/orcommunication with other computers and/or a network.

A visual feedback system 492 is also optionally used to provide the userwith immediate feedback on velocity tracking ability and/or otherexercise related parameters. Velocity tracking is particularly usefulfor systems designed for patients in rehabilitation settings.

Microgravity

In yet another embodiment, the exercise system 100 described herein isdesigned for use in a microgravity environment. Variations include useof lightweight materials, straps for holding an astronaut relative tothe exercise system, and an emphasis on foldable and/or collapsibleparts.

Compact/Reconfigurable System

As described in U.S. patent application Ser. No. 12/545,324, which isincorporated herein, the system 100 is optionally configured as acompact strength training system that provides the benefits associatedwith free weight lifting and/or aerobic training. Optionally, structureof the exercise system 100 is optionally manually or roboticallyreconfigurable into different positions, such as a folded position forstorage. For example, the weightlifting bar 220 folds, the operatorsupport 420 folds, and/or the support base 410 folds or telescopes.

Although the invention has been described herein with reference tocertain preferred embodiments, one skilled in the art will readilyappreciate that other applications may be substituted for those setforth herein without departing from the spirit and scope of the presentinvention. Accordingly, the invention should only be limited by theClaims included below.

1. An exercise apparatus for operation by a user, comprising: arotatable crank; and means for varying resistance of rotation of saidrotatable crank, wherein said means for varying resistance comprises useof an electric motor.
 2. The apparatus of claim 1, wherein saidresistance of rotation varies by at least ten percent during a singlerevolution of said crank.
 3. The apparatus of claim 1, said means forvarying resistance further comprising: a controller, said controllerconfigured to control the resistance of rotation provided by saidelectric motor.
 4. The apparatus of claim 3, wherein said controllercomprises use of a computer implemented function relating humanphysiological strength to angle of rotation of said rotatable crank. 5.The apparatus of claim 3, said means for varying resistance comprisinguse of data output from a pressure pad, the data used by said controllerto control the varying resistance generated by said electric motor. 6.The apparatus of claim 1, wherein said means for varying resistance ofrotation further comprises use of an encoder to determine an angularposition of said rotatable crank.
 7. The apparatus of claim 1, saidmeans for varying resistance further comprising use of an accelerometersensor configured to measure acceleration associated with rotation of ashaft of said electric motor.
 8. The apparatus of claim 1, wherein saidelectric motor changes level of said resistance of rotation to at leastfifteen separate levels during use of a single program in an exerciseperiod of the user.
 9. The apparatus of claim 1, said electric motorconfigured to supply resistance to movement of at least two workoutstation user interfaces.
 10. The apparatus of claim 1, furthercomprising: a linear movement system, wherein said linear movementsystem comprises: a subject interface element; a resistance cablecomprising: a first cable end attached directly or indirectly to saidelectric motor; a second cable end attached to said subject interface;and a controller, said controller configured to control movement of saidelectric motor, movement of said electric motor configured to provide aforce transferred by said cable to said subject interface.
 11. Theapparatus of claim 1, further comprising: a user interface; a cablelinked to said user interface; said electric motor configured to supplya resistive force to movement of said cable; a sensor configured toprovide a feedback sensor reading; and a controller electricallyconnected to said motor, said controller configured to use the feedbacksensor reading in control of the resistive force to movement of at leastone of: said rotatable crank; and said cable.
 12. A method forexercising a user, comprising the steps of: providing a rotatable crank;and varying resistance of rotation of said rotatable crank using anelectric motor.
 13. The method of claim 12, further comprising the stepof: using a controller electrically linked to said electric motor tovary the resistance of rotation.
 14. The method of claim 12, furthercomprising the step of: controlling the resistance at least two userinterface stations with said electric motor.
 15. The method of claim 14,wherein at least one of said two user interface stations comprises: ahandle grip; and a cable linked to said handle grip, said electric motorconfigured to supply a resistive force to movement of said handle grip.16. The method of claim 15, further comprising the steps of: generatinga feedback signal with a sensor; and using the feedback sensor readingin control of the resistive force applied to movement of at least oneof: said rotatable crank; and said cable.
 17. An exercise apparatus foroperation by a user, comprising: a user interface comprising at leastone of: a rotatable crank; and a handgrip; a cable or linkage connectedto said user interface; an electric motor configured to supply aresistive force to movement of said user interface; a sensor configuredto provide a feedback sensor reading; and a controller electricallyconnected to said motor, said controller configured to use the feedbacksensor reading in control of said motor generating the resistive force.18. The apparatus of claim 17, said sensor configured to generate saidfeedback sensor reading in response to interaction by the user.
 19. Theapparatus of claim 17, said controller configured to automatically adaptthe resistive force based upon an observation of a mechanical element,said mechanical element not touched by the user.
 20. The apparatus ofclaim 17, wherein said electric motor comprises an electric servoassist/resist motor.